U.S. patent number 7,600,521 [Application Number 11/200,180] was granted by the patent office on 2009-10-13 for system for automatically exchanging cleaning tools of robot cleaner, and method therefor.
This patent grant is currently assigned to LG Electronics Inc.. Invention is credited to Chun-Kyu Woo.
United States Patent |
7,600,521 |
Woo |
October 13, 2009 |
System for automatically exchanging cleaning tools of robot
cleaner, and method therefor
Abstract
The present invention discloses a system for automatically
exchanging cleaning tools of a robot cleaner and a method therefor.
The system for automatically exchanging the cleaning tools of the
robot cleaner includes the robot cleaner for deciding whether a
currently-mounted first cleaning tool is suitable for a bottom
state of a cleaning area, and returning to and being docked on an
exchange unit when the first cleaning tool is not suitable for the
bottom state, and the exchange unit for exchanging the first
cleaning tool currently mounted on the robot cleaner with a second
cleaning tool suitable for the bottom state when the robot cleaner
is docked.
Inventors: |
Woo; Chun-Kyu (Kyungsangnam-Do,
KR) |
Assignee: |
LG Electronics Inc. (Seoul,
KR)
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Family
ID: |
36072626 |
Appl.
No.: |
11/200,180 |
Filed: |
August 10, 2005 |
Prior Publication Data
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Document
Identifier |
Publication Date |
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US 20060060216 A1 |
Mar 23, 2006 |
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Foreign Application Priority Data
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Sep 23, 2004 [KR] |
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10-2004-0076638 |
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Current U.S.
Class: |
134/57R; 134/58R;
134/59 |
Current CPC
Class: |
A47L
9/0009 (20130101); G05D 1/0225 (20130101); G05D
1/0268 (20130101); G05D 1/0276 (20130101); G05D
2201/0203 (20130101); A47L 2201/02 (20130101); A47L
2201/06 (20130101) |
Current International
Class: |
B08B
3/00 (20060101) |
Field of
Search: |
;134/57R,58R,59,18
;15/300.1 ;318/568.12 |
References Cited
[Referenced By]
U.S. Patent Documents
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5109566 |
May 1992 |
Kobayashi et al. |
5959423 |
September 1999 |
Nakanishi et al. |
6374155 |
April 2002 |
Wallach et al. |
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Foreign Patent Documents
Primary Examiner: Kornakov; Michael
Assistant Examiner: Campbell; Natasha
Attorney, Agent or Firm: Birch, Stewart, Kolasch &
Birch, LLP
Claims
What is claimed is:
1. A system for automatically exchanging cleaning tools of a robot
cleaner, comprising: the robot cleaner for detecting a bottom state
of the cleaning area, deciding whether a currently-mounted first
cleaning tool is suitable for the detected bottom state of the
cleaning area, and returning to and being docked on an exchange
unit when the first cleaning tool is not suitable for the bottom
state; wherein the robot cleaner comprises: a cleaning tool
mounting unit on which the cleaning tools are mounted; a bottom
state detecting unit for detecting the bottom state of the cleaning
area; and a microcomputer for switching the mode of the robot
cleaner into a cleaning tool exchange mode according to the
detection result of the bottom state detecting unit, and
transmitting the detected information to the exchange unit the
exchange unit for exchanging the first cleaning tool currently
mounted on the robot cleaner with a second cleaning tool suitable
for the bottom state when the robot cleaner is docked.
2. The system of claim 1, wherein the robot cleaner further
comprises a cleaning tool driving unit for connecting or
disconnecting the cleaning tool to/from the robot cleaner according
to the control signal from the microcomputer.
3. The system of claim 1 or claim 2, wherein the exchange unit is
formed on a charging unit for charging the robot cleaner.
4. The system of claim 1, wherein the exchange unit comprises: a
sensing unit for sensing the position and direction of the robot
cleaner with respect to the exchange unit; a cleaning tool housing
unit for housing various cleaning tools; a cleaning tool exchange
unit for exchanging the first cleaning tool currently mounted on
the robot cleaner with the second cleaning tool selected among the
various cleaning tools housed in the cleaning tool housing unit;
and a control unit for selecting the second cleaning tool among the
various cleaning tools on the basis of the bottom state detected by
the robot cleaner, and docking the exchange unit and the robot
cleaner according to the sensing signal from the sensing unit.
5. A system for automatically exchanging cleaning tools of a robot
cleaner, comprising: the robot cleaner comprising: a bottom tool
mounting unit on which the cleaning tools are mounted; an input
unit for receiving an input signal relating to a cleaning method
selected by the user; and a microcomputer for switching the mode of
the robot cleaner into a cleaning tool exchange mode on the basis
of the inputted cleaning method, and transmitting the selected
cleaning method information; and an exchange unit comprising: a
sensing unit for sensing the position and direction of the robot
cleaner with respect to the exchange unit; a cleaning tool housing
unit for housing various cleaning tools; a cleaning tool exchange
unit for exchanging a first cleaning tool currently mounted on the
robot cleaner with a second cleaning tool selected among the
various cleaning tools housed in the cleaning tool housing unit;
and a control unit for selecting the second cleaning tool among the
various cleaning tools housed in the cleaning tool housing unit on
the basis of the selected cleaning method information, and docking
the exchange unit and the robot cleaner according to the sensing
signal from the sensing unit.
6. The system of claim 5, wherein the exchange unit is formed on a
charging unit for charging the robot cleaner.
Description
BACKGROUND OF THE INVENTION
1. Field of the Invention
The present invention relates to a robot cleaner, and more
particularly to, a system for automatically exchanging cleaning
tools of a robot cleaner which can automatically exchange the
cleaning tools of the robot cleaner, and a method therefor.
2. Description of the Background Art
In general, a robot cleaner is an apparatus for automatically
cleaning a specific area by running in a house (for example, a
living room, a main room, etc.) and sucking foreign substances such
as dust from the bottom without operations of the user.
The robot cleaner runs in a preset cleaning path and performs a
cleaning operation according to a built-in program. A plurality of
sensors are used to sense a position of the robot cleaner, a
running distance of the robot cleaner and obstacles near the robot
cleaner, so that the robot cleaner can automatically run in the
preset path and perform the cleaning operation.
However, because the high-priced sensors are installed in the robot
cleaner so that the robot cleaner can precisely run in the preset
path and perform the cleaning operation, the inside structure of
the robot cleaner is complicated and the prime cost of production
is increased.
In order to solve the above problem, there has been suggested a
robot cleaner which randomly runs in a predetermined cleaning path
and performs a cleaning operation.
FIG. 1 is a block diagram illustrating a running device of a
conventional robot cleaner.
Referring to FIG. 1, the running device of the conventional robot
cleaner includes an obstacle sensing unit 1 for sensing an obstacle
when the robot cleaner goes straight in a predetermined area and
runs against the obstacle, a control unit 2 for sopping running of
the robot cleaner according to the output signal from the obstacle
sensing unit 1, generating a random angle according to a random
method, and rotating the robot cleaner by applying the random angle
as a rotary angle of the robot cleaner, a left wheel motor driving
unit 3 for driving a left wheel motor 5 of the robot cleaner at a
predetermined speed according to the control signal from the
control unit 2, and a right wheel motor driving unit 4 for driving
a right wheel motor 6 of the robot cleaner at a predetermined speed
according to the control signal from the control unit 2.
The operation of the conventional robot cleaner will now be
explained with reference to FIG. 2.
As illustrated in FIG. 2, the running method for the conventional
robot cleaner includes the steps of, when a cleaning command is
inputted by the user, making the robot cleaner go straight and
sensing an obstacle (S1 to S3), when the obstacle is sensed,
stopping the robot cleaner and generating a random angle according
to a random method (S4), applying the random angle as a rotary
angle of the robot cleaner and rotating the robot cleaner by the
rotary angle (S5), making the rotated robot cleaner go straight
(S6), and deciding completion of the cleaning operation of the
robot cleaner while the robot cleaner goes straight and stopping
running of the robot cleaner when the robot cleaner completes the
cleaning operation.
The running method for the conventional robot cleaner will now be
described in more detail.
When the cleaning command for the robot cleaner is inputted by the
user (S1), the control unit 2 outputs the control signal for
equalizing a driving speed of the left wheel motor 5 with a driving
speed of the right wheel motor 6, so that the robot cleaner can go
straight.
The left wheel motor driving unit 3 drives the left wheel motor 5
according to the control signal, and the right wheel motor driving
unit 4 drives the right wheel motor 6 according to the control
signal. Therefore, the robot cleaner goes straight by the left
wheel motor 5 and the right wheel motor 6 (S2).
While the robot cleaner goes straight, if the robot cleaner runs
against an obstacle, the obstacle sensing unit 1 senses the
obstacle by an impact, and transmits an obstacle sensing signal to
the control unit 2 (S3).
Accordingly, the control unit 2 stops running of the robot cleaner
according to the obstacle sensing signal, generates the random
angle according to the random method (S4), and outputs the control
signal for applying the random angle as the rotary angle of the
robot cleaner. Here, the control unit 2 outputs the control signals
for making the speed of the left wheel motor 5 different from the
speed of the right wheel motor 6 to the left wheel motor driving
unit 3 and the right wheel motor driving unit 4, so that the robot
cleaner can be rotated by the rotary angle.
The left wheel motor driving unit 3 drives the left wheel motor 5
according to the control signal from the control unit 2, and the
right wheel motor driving unit 4 drives the right wheel motor 6
according to the control signal from the control unit 2. As a
result, the robot cleaner is rotated by the random angle (S5).
Thereafter, the control unit 2 outputs the control signals for
equalizing the speed of the left wheel motor 5 with the speed of
the right wheel motor 6 to the left wheel motor driving unit 3 and
the right wheel motor driving unit 4. Thus, the robot cleaner goes
straight (S6).
While the robot cleaner goes straight, completion of the cleaning
operation of the robot cleaner is decided. When the cleaning
operation is completed, running of the robot cleaner is stopped and
the cleaning operation is ended. When the cleaning operation of the
robot cleaner is not completed, the routine goes back to the step
for sensing the obstacle, to repeat the above procedure.
However, the conventional robot cleaner has a disadvantage in that
the user must examine the bottom state of the cleaning area of the
robot cleaner and exchange the current cleaning tool with the
cleaning tool suitable for the bottom state. Accordingly, the
conventional robot cleaner reduces conveniences of the user.
Moreover, when the user mistakenly recognizes the bottom state of
the cleaning area, the conventional robot cleaner cannot
efficiently clean the cleaning area.
SUMMARY OF THE INVENTION
Therefore, an object of the present invention is to provide a
system for automatically exchanging cleaning tools of a robot
cleaner which can prevent the user from inconveniently exchanging
the cleaning tools in person by automatically exchanging the
cleaning tools, and a method therefor.
Another object of the present invention is to provide a system for
automatically exchanging cleaning tools of a robot cleaner which
can reduce the volume and weight of the robot cleaner that increase
by various cleaning tools installed in the robot cleaner, by
exchanging the cleaning tools by using a charging unit for charging
the robot cleaner, and a method therefor.
To achieve these and other advantages and in accordance with the
purpose of the present invention, as embodied and broadly described
herein, there is provided a system for automatically exchanging
cleaning tools of a robot cleaner, including: the robot cleaner for
deciding whether a currently-mounted first cleaning tool is
suitable for a bottom state of a cleaning area, and returning to
and being docked on an exchange unit when the first cleaning tool
is not suitable for the bottom state; and the exchange unit for
exchanging the first cleaning tool currently mounted on the robot
cleaner with a second cleaning tool suitable for the bottom state
when the robot cleaner is docked.
According to another aspect of the present invention, in a robot
cleaner having a self-control running function, a method for
automatically exchanging cleaning tools of the robot cleaner
includes the steps of: detecting a bottom state of a cleaning area
during a cleaning operation; deciding whether a currently-mounted
first cleaning tool is suitable for the detected bottom state, and
returning and docking the robot cleaner on an exchange unit when
the first cleaning tool is not suitable for the bottom state; and
exchanging, on the exchange unit, the first cleaning tool mounted
on the robot cleaner with a second cleaning tool suitable for the
detected bottom state.
The foregoing and other objects, features, aspects and advantages
of the present invention will become more apparent from the
following detailed description of the present invention when taken
in conjunction with the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
The accompanying drawings, which are included to provide a further
understanding of the invention and are incorporated in and
constitute a part of this specification, illustrate embodiments of
the invention and together with the description serve to explain
the principles of the invention.
In the drawings:
FIG. 1 is a block diagram illustrating a running device of a
conventional robot cleaner;
FIG. 2 is a flowchart showing sequential steps of the running
method for the conventional robot cleaner;
FIG. 3 is a block diagram illustrating a system for automatically
exchanging cleaning tools of a robot cleaner in accordance with the
present invention;
FIG. 4 is a flowchart showing sequential steps of a method for
automatically exchanging cleaning tools of a robot cleaner in
accordance with the present invention; and
FIG. 5 is a schematic diagram illustrating the process for
automatically exchanging the cleaning tools of the robot cleaner in
accordance with the present invention.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
Reference will now be made in detail to the preferred embodiments
of the present invention, examples of which are illustrated in the
accompanying drawings.
A system for automatically exchanging cleaning tools of a robot
cleaner and a method therefor which can prevent the user from
inconveniently exchanging the cleaning tools in person and reduce
the volume and weight of the robot cleaner that increase by various
cleaning tools installed in the robot cleaner, by automatically
exchanging the cleaning tools by using a charging unit for charging
the robot cleaner will now be described in detail with reference to
FIGS. 3 to 5.
FIG. 3 is a block diagram illustrating the system for automatically
exchanging the cleaning tools of the robot cleaner in accordance
with the present invention.
As shown in FIG. 3, the system for automatically exchanging the
cleaning tools of the robot cleaner includes the robot cleaner 310
for deciding whether a currently-mounted first cleaning tool is
suitable for a bottom state of a cleaning area, and returning to
and being docked on an exchange unit 320 when the first cleaning
tool is not suitable for the bottom state, and the exchange unit
320 for exchanging the first cleaning tool currently mounted on the
robot cleaner 310 with a second cleaning tool suitable for the
bottom state when the robot cleaner 310 is docked. Here, the robot
cleaner 310 further includes an input unit (not shown) for
receiving an input signal relating to a cleaning method selected by
the user. The exchange unit 320 exchanges the first cleaning tool
with the second cleaning tool suitable for the selected cleaning
method.
The system for automatically exchanging the cleaning tools of the
robot cleaner in accordance with the present invention will now be
described in detail.
The robot cleaner 310 is comprised of a bottom state detecting unit
311 for detecting the bottom state of the cleaning area, a
microcomputer 312 for switching the mode of the robot cleaner 310
into a cleaning tool exchange mode according to the detection
result of the bottom state detecting unit 311 and transmitting the
bottom state information to the exchange unit 320, a cleaning tool
mounting unit 314 on which the cleaning tools are mounted, and a
cleaning tool driving unit 313 for driving the mounted cleaning
tool. Here, the microcomputer 312 can receive the input signal
relating to the cleaning method selected by the user through the
input unit (not shown). Exemplary bottom states detected by the
bottom state detecting unit 311 include a hard floor, a carpet,
moisture and grease spots. Various methods for detecting the bottom
state by the bottom state detecting unit 311 have been publicly
known, and thus explanations thereof are omitted.
The microcomputer 312 transmits the bottom state information to the
exchange unit 320 by RF communication or infrared communication. In
addition, the microcomputer 312 can transmit the selected cleaning
method information to the exchange unit 320 by RF communication or
infrared communication.
The exchange unit 320 includes a sensing unit 321 for sensing the
position and direction of the robot cleaner 310 and the exchange
unit 320, a cleaning tool housing unit 322 for housing various
cleaning tools, a cleaning tool exchange unit 323 for exchanging
the first cleaning tool currently mounted on the robot cleaner 310
with the second cleaning tool selected among the cleaning tools
housed in the cleaning tool housing unit 322, and a control unit
324 for selecting the second cleaning tool among the various
cleaning tools housed in the cleaning tool housing unit 322 on the
basis of the bottom state information detected by the robot cleaner
310, and docking the exchange unit 320 and the robot cleaner 310
according to the sensing signal from the sensing unit 321. Here,
the control unit 324 can select the second cleaning tool among the
various cleaning tools housed in the cleaning tool housing unit 322
on the basis of the selected cleaning method information. A method
for exchanging the first cleaning tool with the second cleaning
tool can be a method for exchanging tools of an auto tool changer
(ATC) of a CNC lathe. Exemplary cleaning tools include a rubber
blade tool, a mop tool, a rough brush tool and a steam tool.
The operation of the system for automatically exchanging the
cleaning tools of the robot cleaner in accordance with the present
invention will now be described in detail with reference to FIG.
4.
FIG. 4 is a flowchart showing sequential steps of the method for
automatically exchanging the cleaning tools of the robot cleaner in
accordance with the present invention.
As illustrated in FIG. 4, in the robot cleaner having a
self-control running function, the method for automatically
exchanging the cleaning tools of the robot cleaner includes the
steps of performing the cleaning operation (S41), detecting the
bottom state of the cleaning area during the cleaning operation
(S42), deciding whether the currently-mounted first cleaning tool
is suitable for the detected bottom state (S43), switching the mode
of the robot cleaner into the cleaning tool exchange mode when the
first cleaning tool is not suitable for the bottom state (S44),
returning and docking the robot cleaner entering into the cleaning
tool exchange mode on the exchange unit (S45), and exchanging, on
the exchange unit, the first cleaning tool mounted on the robot
cleaner with the second cleaning tool suitable for the detected
bottom state (S46). Here, the detecting step (S42) further includes
a step for receiving the input signal relating to the cleaning
method selected by the user, the deciding step (S43) further
includes a step for deciding whether the first cleaning tool is
suitable for the cleaning method selected by the user, and the
exchange step (S46) further includes a step for exchanging the
first cleaning tool mounted on the robot cleaner with the second
cleaning tool suitable for the cleaning method selected by the
user.
The operation of the system for automatically exchanging the
cleaning tools of the robot cleaner in accordance with the present
invention will now be described in more detail.
The robot cleaner 310 performs the bottom cleaning operation by
using the special cleaning tool (first cleaning tool) previously
mounted on the cleaning tool mounting unit 314 (S41).
While the robot cleaner 310 performs the bottom cleaning operation
(S41), the bottom state detecting unit 311 of the robot cleaner 310
detects the bottom state of the cleaning area (S42). The bottom
state detecting unit 311 transmits the bottom state information to
the microcomputer 312, and the input unit (not shown) transmits the
input signal relating to the cleaning method to the microcomputer
312. Here, the robot cleaner 310 further performs the input step
for receiving the input signal relating to the cleaning method
selected by the user. Exemplary bottom states include a hard floor,
a carpet, moisture and grease spots. Various methods for detecting
the bottom state (S42) have been publicly known, and thus
explanations thereof are omitted.
Accordingly, the microcomputer 312 analyzes the bottom state
information from the bottom state detecting unit 311 or the
selected cleaning method information, and decides whether the first
cleaning tool mounted on the robot cleaner 310 needs to be
exchanged on the basis of the analysis result (S43).
When the first cleaning tool mounted on the robot cleaner 310 needs
to be exchanged, the robot cleaner 310 stops the cleaning operation
and enters into the cleaning tool exchange mode (S44).
The robot cleaner 310 entering into the cleaning tool exchange mode
returns to the exchange unit 320, and is docked on the exchange
unit 320 (S45). Here, the exchange unit 320 can be formed on a
charging unit for charging the robot cleaner 310. On the other
hand, a method for returning the robot cleaner 310 to a special
position (the exchange unit 320 or the charging unit) and a device
therefor have been publicly known, and thus explanations thereof
are omitted.
When the robot cleaner 310 is docked on the exchange unit 320
(S45), the microcomputer 312 transmits the bottom state information
or the selected cleaning method information to the control unit 324
of the exchange unit 320. The bottom state information or the
selected cleaning method information can be transmitted to the
control unit 324 of the exchange unit 320 by RF communication or
infrared communication. In addition, the bottom state information
or the selected cleaning method information can be transmitted
before the robot cleaner 310 is docked on the exchange unit
320.
The control unit 324 of the exchange unit 320 selects the second
cleaning tool among the various cleaning tools housed in the
cleaning tool housing unit 323 on the basis of the information from
the robot cleaner 310. The control unit 324 disconnects the first
cleaning tool mounted on the cleaning tool mounting unit 314 of the
docked robot cleaner 310 from the robot cleaner 310, and mounts the
second cleaning tool on the cleaning tool mounting unit 314 of the
robot cleaner 310. The control unit 324 transfers the disconnected
first cleaning tool to the cleaning tool housing unit 322.
The microcomputer 312 of the robot cleaner 310 connects the second
cleaning tool mounted on the cleaning tool mounting unit 314 of the
robot cleaner 310 to the cleaning tool driving unit 313 of the
robot cleaner 310.
Thereafter, the robot cleaner 310 on which the second cleaning tool
has been mounted resumes the cleaning operation by using the second
cleaning tool connected to the cleaning tool driving unit 313.
FIG. 5 is a schematic diagram illustrating the process for
automatically exchanging the cleaning tools of the robot cleaner in
accordance with the present invention.
As depicted in FIG. 5, the bottom state of the cleaning area is
detected by the bottom state detecting unit adhered to the robot
cleaner, the second cleaning tool is selected according to the
detection result, and the currently-mounted first cleaning tool is
automatically exchanged with the second cleaning tool on the
exchange unit.
As discussed earlier, in accordance with the present invention, the
system for automatically exchanging the cleaning tools of the robot
cleaner and the method therefor can prevent the user from
inconveniently exchanging the cleaning tools in person and reduce
the volume and weight of the robot cleaner that increase by various
cleaning tools installed in the robot cleaner, by automatically
exchanging the cleaning tools by using the charging unit for
charging the robot cleaner.
As the present invention may be embodied in several forms without
departing from the spirit or essential characteristics thereof, it
should also be understood that the above-described embodiments are
not limited by any of the details of the foregoing description,
unless otherwise specified, but rather should be construed broadly
within its spirit and scope as defined in the appended claims, and
therefore all changes and modifications that fall within the metes
and bounds of the claims, or equivalence of such metes and bounds
are therefore intended to be embraced by the appended claims.
* * * * *